Dual robot including spaced upper arms and interleaved wrists and systems and methods including same

ABSTRACT

Robots including spaced upper arms are described. The robot includes first and second upper arms rotatable about a shoulder axis wherein the second upper arm is spaced from the first upper arm. The other robot components (first and second forearms, first and second wrist members, and first and second end effectors) are interleaved in the space between the first and second upper arms. Each of the first and second upper arms may be individually and independently controlled. Methods of operating the robot and electronic device processing systems including the robot are provided, as are numerous other aspects.

RELATED APPLICATIONS

This application is a continuation of, and claims priority from, U.S.Non-Provisional patent application Ser. No. 15/619,424, filed Jun. 9,2017, entitled “DUAL ROBOT INCLUDING SPACED UPPER ARMS AND INTERLEAVEDWRISTS AND SYSTEMS AND METHODS INCLUDING SAME”, which claims the benefitof and priority from U.S. Provisional Patent Application No. 62/355,697,filed Jun. 28, 2016, entitled “DUAL ROBOT INCLUDING SPACED UPPER ARMSAND INTERLEAVED WRISTS AND SYSTEMS AND METHODS INCLUDING SAME,” both ofwhich are hereby incorporated herein by reference in their entirety forall purposes.

FIELD

Embodiments of the present disclosure relate to electronic devicemanufacturing, and more specifically to robots adapted to transportsubstrates between chambers.

BACKGROUND

Electronic device manufacturing systems may include process tools havingmultiple chambers, such as process chambers and one or more load lockchambers. Such process chambers may be used to carry out any number ofprocesses on the substrates (e.g., silicon-containing wafers, bothpatterned and unpatterned, masked wafers, glass plates,silica-containing articles, or the like) such as deposition, oxidation,nitration, etching, polishing, cleaning, lithography, metrology, or thelike.

Within such process tools, a plurality of such chambers may bedistributed about a transfer chamber, for example. A multi-arm robot maybe housed within the transfer chamber and may be configured and adaptedto transport substrates between the various chambers. For example,transfers may be between process chambers, or between process chambersand the one or more load lock chambers. Slit valves may be located atthe entries into each respective chamber. Efficient and precisetransport of substrates between these chambers is sought after toimprove system throughput.

In particular, any improvement to systems, apparatus, and methods thatprovide for increased functionality is welcomed.

SUMMARY

In a first embodiment, a robot is provided. The robot includes a firstupper arm rotatable about a shoulder axis, a second upper arm verticallyspaced from the first upper arm and rotatable about the shoulder axis, afirst forearm vertically located between the first upper arm and thesecond upper arm and adapted for rotation relative to the first upperarm about a second axis at a position offset from the shoulder axis, asecond forearm vertically located between the first upper arm and thesecond upper arm and adapted for rotation relative to the second upperarm about a third axis at a position offset from the shoulder axis, afirst wrist member vertically located between the first upper arm andthe second upper arm and adapted for rotation relative to the firstforearm about a fourth axis at a position offset from the second axis,and a second wrist member vertically located between the first upper armand the second upper arm and adapted for rotation relative to the secondforearm about a fifth axis at a position offset from the third axis.

According to another embodiment, an electronic device processing systemis provided. The electronic device processing system includes a transferchamber, a robot at least partially disposed within the chamber andadapted to transport substrates to and from process chambers coupled tothe transfer chamber, the robot including a first upper arm rotatableabout a shoulder axis, a second upper arm vertically spaced from thefirst upper arm and rotatable about the shoulder axis, a first forearmvertically located between the first upper arm and the second upper armand adapted for rotation relative to the first upper arm about a secondaxis at a position offset from the shoulder axis, a second forearmvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second upper arm about a thirdaxis at a position offset from the shoulder axis, a first wrist membervertically located between the first upper arm and the second upper armand adapted for rotation relative to the first forearm about a fourthaxis at a position offset from the second axis, and a second wristmember vertically located between the first upper arm and the secondupper arm and adapted for rotation relative to the second forearm abouta fifth axis at a position offset from the third axis.

In yet another embodiment, a method of transporting substrates within anelectronic device processing system is provided. The method oftransporting substrates includes providing a robot including a firstupper arm rotatable about a shoulder axis, a second upper arm verticallyspaced from the first upper arm and rotatable about the shoulder axis, afirst forearm vertically located between the first upper arm and thesecond upper arm and adapted for rotation relative to the first upperarm about a second axis at a position offset from the shoulder axis, asecond forearm vertically located between the first upper arm and thesecond upper arm and adapted for rotation relative to the second upperarm about a third axis at a position offset from the shoulder axis, afirst wrist member vertically located between the first upper arm andthe second upper arm and adapted for rotation relative to the firstforearm about a fourth axis at a position offset from the second axis,and a second wrist member vertically located between the first upper armand the second upper arm and adapted for rotation relative to the secondforearm about a fifth axis at a position offset from the third axis,independently rotating the first upper arm to extend the first endeffector radially into a first chamber, and independently rotating thesecond upper arm to extend the second end effector radially into asecond chamber.

Numerous other features are provided in accordance with these and otherembodiments of the disclosure. Other features and aspects of embodimentsof the disclosure will become more fully apparent from the followingdetailed description, the accompanying drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a top view of an electronic device processing systemincluding a dual robot according to one or more embodiments.

FIG. 2A illustrates an isometric view of a dual robot according to oneor more embodiments.

FIG. 2B illustrates a top plan view of a dual robot with a second upperarm removed to illustrate a retracted orientation of the dual robot andconfiguration of the wrist members according to one or more embodiments.

FIG. 2C illustrates a rear plan view of a dual robot according to one ormore embodiments.

FIG. 2D illustrates a side plan view of a dual robot according to one ormore embodiments.

FIG. 2E illustrates a cross-sectioned side view of a dual robot showingthe drive components according to one or more embodiments.

FIG. 2F illustrates a top view of a dual robot showing the forearm drivecomponents according to one or more embodiments.

FIG. 2G illustrates a cross-sectioned partial side view of a motorassembly including Z-axis capability according to one or moreembodiments.

FIG. 3A-3D illustrates top views of an electronic device processingsystem including two dual robots shown in various configurationsaccording to one or more embodiments.

FIG. 4 illustrates a flowchart depicting a method of transportingsubstrates within an electronic device processing system according toone or more embodiments.

DETAILED DESCRIPTION

As discussed above, in electronic device manufacturing processing it isdesirable to provide precise and rapid transport of substrates betweenvarious locations (e.g., between chambers). To improve processing speed,dual-bladed robots have been used, i.e., robots having ablade-over-blade configuration, wherein substrate exchanges at a chambercan take place rapidly and without making a rotational move. Inparticular, the pick is accomplished by one end effector and the placeis accomplished by the other end effector of the dual-bladed robot.

Existing selective compliance assembly robot arm (SCARA) robots, such asa dual SCARA robot found in U.S. Pat. No. 9,147,590, provides anacceptable level of throughput and precision, but cannot beindependently rotated without interference between the elbow joints atcertain locations. Thus, their functionality and range of motion issomewhat limited, and longer-than-necessary moves may be made forcertain exchange maneuvers.

Embodiments of the present disclosure provide dual-blade robots thatinclude a configuration wherein each of the robot arm assemblies(including upper arm, forearm, and wrist) can be rotated without anyinterference. In particular, according to one or more embodiments of thedisclosure, a robot is provided including first and second upper armsrotatable about a shoulder axis wherein the second upper arm is spaced(e.g., vertically spaced) from the first upper arm. The other robotcomponents (first and second forearms, first and second wrist members,and first and second end effectors) are received vertically spacedbetween the first and second upper arms. Each of the first and secondupper arms and first and second forearms may be individually andindependently controlled.

This highly-functional configuration enables the robot to rapidly moveto any location with a smallest rotational move. Thus, efficiency andthroughput may be enhanced.

Further details of various aspects of the robot, electronic deviceprocessing systems including the robot, and methods of operating therobot according to example embodiments are described with reference toFIGS. 2A-5 herein.

Referring now to FIG. 1, a first example embodiment of an electronicdevice processing system 100 is disclosed. The electronic deviceprocessing system 100 is useful, and may be configured and adapted, totransfer substrates (e.g., substrates 122, 124) to and from variouschambers, such as into and out of process chambers 174, and/or into andout of load lock chambers 176, for example. However, the robot 117 maybe useful in other environments where rapid movement of articles betweenlocations is desired.

In one aspect, an electronic device processing system 100 is provided.The electronic device processing system 100 may include a transferchamber 178 and a robot 117 at least partially contained in the transferchamber 178, wherein the robot 117 is adapted to transport substrates122, 124 to and from process chambers 174 and load lock chambers 176.The robot 117 is constructed as described herein.

The electronic device processing system 100 includes a mainframe housing180 including the transfer chamber 178. The transfer chamber 178 mayinclude top, bottom, and side walls, and, in some embodiments, may bemaintained at a vacuum, for example. As shown, the top (e.g., lid) isremoved. The destination locations for pick or place of the substrates122, 124 may be any two of the process chambers 174, or any two of theload lock chambers 176.

As shown in FIG. 1, the robot 117 is shown placing substrates 122, 124in load lock chambers 176, in unison. However, the robot 117 may servicewith the first end effector 118 a process chamber 174 while the secondend effector 120 may service a load lock chamber 176, or vice versa.Similarly, each of the first end effector 118 and the second endeffector 120 may service any two of the process chambers 174 at once.Process chambers 174 may be adapted to carry out any number of processeson the substrates 122, 124 and other substrates, such as deposition,oxidation, nitration, etching, polishing, cleaning, lithography,metrology, or the like. Other processes may be carried out.

The load lock chambers 176 may be adapted to interface with a factoryinterface 182 or other system component that may receive substrates fromone or more substrate carriers 183 (e.g., Front Opening Unified Pods(FOUPs)) docked at one or more load ports of the factory interface 182.A load/unload robot 184 (shown as a dotted box) may be used to transfervarious substrates between the substrate carriers 183 and the load lockchambers 176. Because of the complete lack of interference between thevarious arms of the robot 117, the moves between process chambers andload lock chambers can be made in the minimum amount of rotation.Moreover, if desired, moves can be made by each of the first endeffector 118 and the second end effectors 120 such that the substrate124 never lies directly over top of substrate 122, thus reducing therisk that any particles may fall from substrate 124 and come to rest onsubstrate 122. The first end effector 118 and the second end effector120 may be operable to extend and retract in unison, one on top of theother, just like a dual-bladed SCARA robot of the prior art, as well.Thus, it should be recognized that each of the respective first endeffector 118 and the second end effector 120 have a mutually exclusivework envelope that does not depend on where the other is located.

In the depicted embodiment of FIG. 1, the robot 117 is shown as beingoperable in a transfer chamber 178. However, it should be recognizedthat this embodiment of robot 117, may advantageously be used in otherareas of electronic device manufacturing, such as in a factory interface182 wherein the robot 117 may transport substrates between load portsand load lock chambers 176, for example. The robot 117 described hereinis also capable of other transporting uses.

Now referring to FIGS. 2A-2G, the robot 117 may include a base 201 thatmay include a flange or other attachment features adapted to be attachedand secured to a wall (e.g., a floor) of the mainframe housing 180 (FIG.1). The robot 117 includes a first upper arm 202 and a second upper arm204, which, in the depicted embodiment, are each substantially rigidcantilever beams. The first upper arm 202 is configured and adapted tobe independently rotated about a shoulder axis 203 relative to the base201 in a clockwise or counterclockwise rotational direction. Likewise,the second upper arm 204 is configured and adapted to be independentlyrotated about the shoulder axis 203 relative to the base 201 in both theclockwise or counterclockwise rotational direction. Rotation of thefirst upper arm 202 and the second upper arm 204 may be +/−360 degreesor more about the shoulder axis 203 and may be accomplished by motor 226as commanded by the controller 130. The second upper arm 204 isvertically spaced from the first upper arm 202.

In the depicted embodiment, the shoulder axis 203 is stationary. Thisembodiment of robot 117 does not include Z-axis capability and should beused with lift pins, moving platforms, or the like in the variousprocess chambers 174 and load lock chambers 176 (FIG. 1) to accomplishthe substrate exchange. However, other embodiments may include Z-axiscapability, as further described herein.

Mounted and rotationally coupled at a first position spaced from theshoulder axis 203 (e.g., at an outboard end of the first upper arm 202),is a first forearm 206. The first forearm 206 is configured and adaptedto be rotated in an X-Y plane relative to the first upper arm 202 abouta second axis 205 located at the first position. The first forearm 206is independently rotatable in the X-Y plane relative to the first upperarm 202 by a first forearm drive assembly (FIG. 2F). The first forearm206 is vertically located between the first upper arm 202 and the secondupper arm 204.

Mounted and rotationally coupled at a position spaced from the shoulderaxis 203 (e.g., at an outboard end of the second upper arm 204), is asecond forearm 208. The second forearm 208 is configured and adapted tobe rotated in an X-Y plane relative to the second upper arm 204 about athird axis 207 located at the spaced position. The second forearm 208 isrotatable in the X-Y plane relative to the second upper arm 204 by asecond forearm drive assembly. The second forearm 208 is verticallylocated between the first upper arm 202 and the second upper arm 204.

In particular, the first forearm 206 and second forearm 208 areconfigured and adapted to be rotated in either a clockwise orcounterclockwise rotational direction about the second axis 205 and thethird axis 207, respectively. Rotation may be +/−about 140 degrees. Asshown in FIG. 2C the first forearm 206 and second forearm 208 arelocated at different vertical locations between the first and secondupper arms 202, 204 and do not interfere with one another when beingindependently rotated via rotation of the first and second upper arms202, 204.

Located at a position spaced (e.g., offset) from the second axis 205(e.g., rotationally coupled on an outboard end of the first forearm 206)is a first wrist member 210. The first wrist member 210 is configuredand adapted for translation in the X-Y plane, such as relative to thebase 201. In particular, the respective drive system and control enablespure translation along the Y direction, such that pick and placeoperations may be performed.

The first wrist member 210 may be coupled to the first end effector 118.The coupling may be by way of fasteners, the same as fasteners 215 shownin FIG. 2B. In some embodiments, the first wrist member 210 and thefirst end effector 118 and the second wrist member 212 and second endeffector 120 may be coupled by being made integral with one another,i.e., from a same piece of material. The first wrist member 210 isconfigured and adapted for relative rotation about a fourth axis 209relative to the first forearm 206. The first end effector 118 may beconfigured adapted to carry and transport a substrate 122 during pickand/or place operations.

Rotation of first wrist member 210, and thus the first end effector 118,may be imparted by a first wrist member drive assembly. The first wristmember 210 is configured and adapted for rotation relative to the firstforearm 206 in either a clockwise or counterclockwise rotationaldirection about the fourth axis 209 by the first wrist member driveassembly. Rotation may be +/−about 70 degrees. In particular, relativerotation between the first forearm 206 and the first upper arm 202causes the first wrist member 210, coupled first end effector 118, andsupported substrate 122 to translate in the Y direction (See FIG. 2A.Such translation may be into the process chamber 174 as shown in FIG.3D, for example.

Located at a position spaced (e.g., offset) from the third axis 207(e.g., rotationally coupled on an outboard end of the second forearm208) is a second wrist member 212. The second wrist member 212 isconfigured and adapted for translation in the X-Y plane, such asrelative to the base 201. In particular, the respective drive system andcontrol enables pure translation along the Y direction, such that pickand place operations may be performed.

Translation of the second wrist member 212, and thus the second endeffector 120 and supported substrate 124, may be imparted by a secondwrist member drive assembly. The second wrist member 212 is configuredand adapted for rotation relative to the second forearm 208 in either aclockwise or counterclockwise rotational direction about the fifth axis211 by the second wrist member drive assembly. Rotation may be +/−about70 degrees. In particular, relative rotation between the second forearm208 and the second upper arm 204 causes the second wrist member 212 andcoupled second end effector 120 as well as supported substrate 124 totranslate in the Y direction. Such translation may be into the processchamber 174 as shown in FIG. 3D, for example.

As is shown in FIG. 2B and FIG. 2C, the first forearm 206, secondforearm 208, first wrist member 210, and second wrist member 212 are allvertically received between the vertical locations of the first upperarm 202 and the second upper arm 204. Furthermore, the first upper arm202, first forearm 206, and first wrist member 210 are all arrangedbelow the locations of the second upper arm 204, second forearm 208, andsecond wrist member 212, so that interference is avoided for allrotational conditions. The robot 117 is shown in a folded,fully-retracted position in FIGS. 2A-2D. As will be described laterherein, a second shaft 240 coupled to the second upper arm 204 extendsvertically between the first upper arm 202 and the second upper arm 204and passes by the sides of the first and second wrist members 210, 212.

In one or more embodiments, the first upper arm 202 and first forearm206 may be of unequal lengths, measured center-to center, i.e., measuredhorizontally between the shoulder axis 203 and the second axis 205 forthe length of the first upper arm 202, and between the second axis 205and the fourth axis 209 for the length of the first forearm 206. Thesecond upper arm 204 and the second forearm 208 may also be of unequalcenter-to-center lengths. The center-to-center length of the secondupper arm 204 may be measured between the shoulder axis 203 and thethird axis 207, and between the third axis 207 and the fifth axis 211for the length of the second forearm 208.

For example, the center-to-center lengths of the first upper arm 202 andthe second upper arm 204 may be between about 110% and 200% larger thanthe center-to-center lengths of the first forearm 206 and second forearm208, respectively. In one or more embodiments, the lengths of the firstand second upper arms 202, 204 may be between about 200 mm and about 380mm. The lengths of the first and second forearms 206, 208 may be betweenabout 100 mm and 345 mm.

The details of the motor assembly 226 and various drive assemblies willnow be described with reference to FIGS. 2E and 2F. The rotation of thefirst upper arm 202 in the X-Y plane about shoulder axis 203 may beprovided by a first upper arm drive assembly. First upper arm driveassembly includes a first motor 228 configured to rotate a first shaft229, which is coupled to a bottom of the first upper arm 202. The firstmotor 228 may be a stepper motor, variable reluctance motor, a permanentmagnet electric motor, or the like. Other types of motors may be used.The rotation of the first upper arm 202 may be independently controlledby suitable commands provided to the first motor 228 from a controller130. Controller 130 may provide positional commands to each of therespective drive motors and may receive positional feedback informationfrom suitable positional encoders via a wiring harness 231. The firstupper arm 202 may be rotated freely +/−360 degrees or more.

The first motor 228 may be contained in a motor housing 232, which maybe coupled to a base 201, for example. The base 201 may be coupled to afloor of a mainframe housing 180. Any suitable type of feedback devicemay be provided to determine a precise rotational position of the firstupper arm 202. For example, a first encoder 236 may be coupled to thefirst shaft 229. The first encoder 236 may be a rotary encoder and maybe a magnetic type, an optical type, or another type of encoder. In someembodiments, the motor housing 232 and base 201 may be made integralwith one another. In other embodiments, the base 201 may be madeintegral with the mainframe housing 180.

Likewise, the independent rotation of the second upper arm 204 in theX-Y plane about the shoulder axis 203 may be provided by a second upperarm drive assembly. The second upper arm drive assembly may include asecond motor 238 rotating a second shaft 240, wherein the second shaftis rigidly coupled to the second upper arm 204, such as at an upperportion thereof, as shown. The second motor 238 may be a stepper motor,variable reluctance motor, permanent magnet electric motor, or the like.Other types of motors may be used. The rotation of the second upper arm204 may be independently controlled by suitable commands provided to thesecond motor 238 from the controller 130. Controller 130 may alsoreceive positional feedback information from a second encoder 242 viathe wiring harness 231. Rotation of the first upper arm 202 and thesecond upper arm 204 may be up to about +140 degrees from the fullyretracted position shown in FIG. 2A.

Rotation of the first forearm 206 in the X-Y plane about the second axis205 may be provided by any suitable motive member, such as by an actionof a third motor 244 rotating a third shaft 245. The third motor 244 maybe the same as discussed above. The rotation of the first forearm 206may be independently controlled by suitable commands provided to thethird motor 244 from the controller 130. Controller 130 may also receivepositional feedback information from a third encoder 246 coupled to thethird shaft 245 via the wiring harness 231.

A first forearm drive assembly may comprise any suitable structure forrotationally driving the first forearm 206. The first forearm driveassembly may include, for example, a rotor of the third motor 244coupled to and capable of driving the third shaft 245. The first forearmdrive assembly may further include a first forearm driving member 247, afirst forearm driven member 248, and a first forearm transmissionelement 249. The first forearm driving member 247 may be coupled to thethird shaft 245, whereas the first forearm driven member 248 may be acylindrical pilot extending from a body of the first forearm 206. Forexample, in the depicted embodiment, the first forearm driving member247 may be a cylindrical pulley coupled to or integral with the thirdshaft 245 or simply a cylindrical end of the third shaft 245, as shown.The first forearm transmission element 249 connects the first forearmdriving member 247 and first forearm driven member 248. The firstforearm transmission element 249 may be one or more belts or straps,such as two oppositely-wound discontinuous metal straps, wherein eachstrap is rigidly coupled (e.g., pinned) to the first forearm drivingmember 247 and first forearm driven member 248 at the ends thereof.

In the depicted embodiment, the first wrist member drive assemblyincludes a first wrist member driving member 250, which comprises a camsurface 250S, as best shown in FIG. 2F, and a first wrist member drivenmember 252 connected by a first wrist member transmission element 254.The first wrist member driving member 250 may be an oblong pulleyincluding a cam surface 250S. The first wrist member driving member 250may be rigidly coupled to the first upper arm 202, such as at its lowerend, by a first forearm shaft 255. Other types of rigid connections maybe used. Likewise, the first wrist member driven member 252 may be anoblong pulley including a cam surface 252S.

The cam surfaces 250S, 252S (FIG. 2F) of the first wrist member drivingmember 250 and the first wrist member driven member 252 may beconfigured so that rate of rotation of the first wrist member 210 isnonlinear. Thus, even though the lengths of the first upper arm 202 andthe first forearm 206 are unequal, the first wrist member 210 and thecoupled first end effector 118 may be driven in pure translation in theY direction (See FIG. 2B). In particular, the cam surfaces 250S, 252S,and thus the rate of rotation, is related to a center-to-center lengthL1 of the first upper arm 202 and a center-to-center length L2 of thefirst forearm 206. The relationship between a minimum cam radius R1 to amaximum cam radius R2 may be selected based upon the lengths of thefirst and second upper arms 202, 204 and first and second forearms andso that a constant belt length may be provided during rotation. Thetrajectory for the first and second end effectors 118, 120 may be linearin some embodiments, or optionally may be sweeping in some embodimentsdepending upon the chosen cam profile. The cam surfaces 250S and 252Sshould be oriented so that the positions of the lobes having the maximumradius are oriented 90 degrees from one another. Other lobe shapes maybe used. The lobe profile, in one embodiment, is such that the first endeffector 118 always travels in a linear path along the Y axis inextension and retraction. The second wrist member drive assemblyconfigured to drive the second wrist member 212 is identical to theabove-described first wrist member drive assembly.

The first wrist member driven member 252 may be coupled to a pilotextending from a body of the first wrist member 210. The first wristmember transmission element 254 may be one or more belts. In someembodiments, the one or more belts may be discontinuous first and secondsteel belts, as described above, oppositely wrapped about the firstwrist member driving member 250 and the first wrist member driven member252.

In more detail, the first wrist member 210 includes an offset such thata first portion extends from the fourth axis 209 to the fourth shaft 268as shown in FIG. 2B, and then juts right around the fourth shaft 268 sothat the end effector line of action 256 (shown as a dotted line) of thecenter of the first end effector 118 is offset from the fourth axis lineof action 258 (also shown dotted). The offset distance 260 between theend effector line of action 256 and the fourth axis line of action 258may be between about 25 mm and 200 mm, and about 125 mm in someembodiments, for example. A similar offset jutting left around fourthshaft 268 may be provided on the second wrist member 212 such that thesecond end effector 120 is offset in the same manner as shown.

The operation of the second forearm 208 and second wrist member 212 maybe the same as previously described for the first forearm 206 and firstwrist member 210.

The second forearm drive assembly includes, as best shown in FIG. 2E, asecond forearm driving member 262 and a second forearm driven member 264connected by a second forearm transmission element 265. The secondforearm driving member 262 may be a cylindrical pulley rigidly coupledto the fourth shaft 268, for example. The fourth shaft 268 may be drivenby a fourth motor 269, which may be a same motor as discussed above. Afourth encoder 271 may provide feedback to controller 130 of the exactpositioning of the fourth shaft 268. The second forearm driven member264 may be a pilot extending upwardly from a body of the second forearm208, such as at an upper end thereof. The second forearm transmissionelement 265 may be one or more belts. In some embodiments, the one ormore belts may be first and second discontinuous steel belts wrappedabout the second forearm driving member 262 and the second forearmdriven member 264 in opposite directions wherein each belt is pinned atits respective ends to each of the second forearm driving member 262second forearm driven member 264. The rotation of the second forearm 208about the third axis 207 is provided by action of the second forearmdrive assembly.

In the depicted embodiment, the second wrist member drive assemblyincludes, as best shown in FIGS. 2E and 2F, a second wrist memberdriving member 270 and a second wrist member driven member 272 connectedby a second wrist member transmission element 273. The second wristmember driving member 270 may be a cam rigidly coupled to the secondupper arm 204, such as at its upper end by a second forearm shaft 274.Other types of rigid connections may be used. The second wrist memberdriven member 272 may be a cam coupled to a pilot extending upwardlyfrom a body of the second wrist member 212. The second wrist membertransmission element 273 may be one or more belts. In some embodiments,the one or more belts may be first and second discontinuous steel belts,as described above, oppositely wrapped about the second wrist memberdriving member 270 and the second wrist member driven member 272.

The shafts 229, 240, 245, and 268, and first and second forearms 206,208, and first and second wrist members 210, 212 may be supported forrotation by suitable rotation-accommodating bearings. Any suitablebearing may be used, such as ball bearings. For example, sealed ballbearings may be used.

In operation, in order to move the second end effector 120 to a desireddestination for a pick or place of the substrate 124, the second upperarm 204 and second forearm 208 may be actuated a sufficient amount,thereby translating the second wrist member 212, to pick or place thesubstrate 124 from a chamber. As the second end effector 120 coupled tothe second wrist member 212 is inserted into a chamber (FIG. 1) to placethe substrate 124 at a desired destination location, moving lift pinsmay raise to contact the substrate 124 and lift the substrate 124 off ofthe end effector 120 so that the end effector 120 may be retracted.

FIG. 2G illustrates a portion of a robot 117A that may further include avertical motor 285 and a vertical drive mechanism 286 that is configuredand adapted to cause vertical motion (along the Z axis) of the first andsecond upper arms 202, 204 (only first upper arm 202 shown), and coupledfirst and second forearms 206, 208 (not shown), first and second wristmembers 210, 212 (not shown), and first end effector 118 and the secondend effector 120 (not shown). The first and second upper arms 202, 204,first and second forearms 206, 208, first and second wrist members 210,212, and first and second end effectors 118, 120 may be the same asdescribed in the FIG. 2A-2G embodiment.

The vertical drive mechanism 286 may include a worm drive, lead screw,ball screw, or rack and pinion mechanism that, when rotated by thevertical motor 285, causes the motor housing 232A to translatevertically along the Z direction. A vacuum barrier 287 (e.g., a sealedbellows) may be used to accommodate the vertical motion and also act asa vacuum barrier between the chamber housing the robot arms and theinside of the outer housing 288 that may be at atmospheric pressure. Oneor more translation-accommodating devices 289, such as linear bearings,bushings, or other linear motion-restraining means may be used torestrain the motion of the outer housing 288 to vertical motion onlyalong the Z direction. In the depicted embodiment, a lead screw 290 mayengage a lead nut 291 mounted to the motor housing 232A. Vertical motor285 may include a rotational feedback to provide vertical positionfeedback information to the controller 130.

FIGS. 3A-3D illustrate electronic device processing systems 300A-300Dincluding multiple mainframes, each including a robot 117. Variousconfigurations of the robot are shown to illustrate the extremeflexibility in servicing the various chambers. For example, FIG. 3Aillustrates the robots 117 each servicing the load lock chambers and viapass through chambers, respectively. FIGS. 3B and 3C illustrate therobots 117 servicing the load lock chambers, a via chamber, and aprocess chamber. FIG. 3D illustrates the robots 117 servicing the loadlock chambers, and process chambers.

A method 400 of transporting substrates within an electronic deviceprocessing system according to embodiments is provided and describedwith reference to FIG. 4. The method 400 includes, in 402, providing arobot (e.g., robot 117) including a first upper arm (e.g., first upperarm 202) rotatable about a shoulder axis (e.g., shoulder axis 203), asecond upper arm (e.g., second upper arm 204) vertically spaced from thefirst upper arm and rotatable about the shoulder axis, a first forearm(e.g., first forearm 206) vertically located between the first upper armand the second upper arm and adapted for rotation relative to the firstupper arm about a second axis (e.g., second axis 205) at a positionoffset from the shoulder axis, a second forearm (e.g., second forearm208) vertically located between the first upper arm and the second upperarm and adapted for rotation relative to the second upper arm about athird axis (e.g., third axis 207) at a position offset from the shoulderaxis, a first wrist member (e.g., first wrist member 210) verticallylocated between the first upper arm and the second upper arm and adaptedfor rotation relative to the first forearm about a fourth axis (e.g.,fourth axis 209) at a position offset from the second axis, and a secondwrist member (e.g., second wrist member 212) vertically located betweenthe first upper arm and the second upper arm and adapted for rotationrelative to the second forearm about a fifth axis (e.g., fifth axis 211)at a position offset from the third axis.

In 404, the method 400 includes independently rotating the first upperarm to extend a first end effector (e.g., first end effector 118)radially into a first chamber, and further, in 406, independentlyrotating the second upper arm to extend a second end effector (e.g.,second end effector 120) radially into a second chamber.

As should be apparent, using the robot 117 as described herein, pickingand placing of substrates may be accomplished in reduced time, thusenhancing overall tool throughput. The foregoing description disclosesonly example embodiments. Modifications of the above-disclosedapparatus, systems, and methods which fall within the scope of thedisclosure will be readily apparent to those of ordinary skill in theart. Accordingly, while the present disclosure has been provided inconnection with example embodiments thereof, it should be understoodthat other embodiments may fall within the scope, as defined by theappended claims.

What is claimed is:
 1. A robot, comprising: a first upper arm rotatableabout a shoulder axis; a second upper arm vertically spaced from thefirst upper arm and rotatable about the shoulder axis; a first forearmcoupled to the first upper arm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first upper arm about a second axis at a position offset from theshoulder axis; a second forearm coupled to the second upper arm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second upper arm about a thirdaxis at a position offset from the shoulder axis; a first wrist membercoupled to the first forearm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first forearm about a fourth axis at a position offset from thesecond axis; a second wrist member coupled to the second forearm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second forearm about a fifthaxis at a position offset from the third axis; a first forearm shaftrigidly coupled to the first upper arm and to a first cam comprising afirst cam surface; a second cam coupled to the first wrist member, thesecond cam comprising a second cam surface; and a first belt coupledbetween the first cam surface and the second cam surface, wherein thefirst and second cam surfaces are to enable a nonlinear rate of rotationof the first wrist member with respect to the first forearm.
 2. Therobot of claim 1, further comprising a first end effector coupled to thefirst wrist member, and a second end effector coupled to the secondwrist member.
 3. The robot of claim 1, further comprising a first upperarm drive assembly comprising: a first motor; and a first shaft coupledto the first motor and to the first upper arm and adapted to causeindependent rotation of the first upper arm.
 4. The robot of claim 1,further comprising a second upper arm drive assembly comprising a secondshaft coupled to a second motor and the second upper arm, the secondshaft passing along a side of the first wrist member and the secondwrist member and adapted to cause independent rotation of the secondupper arm.
 5. The robot of claim 1, further comprising a first forearmdrive assembly comprising: a third motor; a third shaft coupled to thethird motor and to a first forearm cylindrical pulley; a first forearmcylindrical pilot coupled to the first forearm; and a second beltcoupled between the first forearm cylindrical pulley and the firstforearm cylindrical pilot.
 6. The robot of claim 1, wherein the firstcam surface further comprises a first oblong pulley and the second camsurface further comprises a second oblong pulley, wherein a firstmaximum radius of the first oblong pulley is perpendicular to a secondmaximum radius of the second oblong pulley.
 7. The robot of claim 1,further comprising a second forearm drive assembly comprising: a fourthmotor; a fourth shaft coupled to the fourth motor and to a secondforearm cylindrical pulley; a second forearm cylindrical pilot coupledto the second forearm; and a second belt coupled between the secondforearm cylindrical pulley and the second forearm cylindrical pilot. 8.The robot of claim 1, further comprising: a second wrist member driveassembly including a second forearm shaft rigidly coupled to the secondupper arm and to a third cam comprising a third cam surface; a fourthcam coupled to the second wrist member, the fourth cam comprising afourth cam surface; and a second belt coupled between the third camsurface and the fourth cam surface.
 9. The robot of claim 8, wherein thethird and fourth cam surfaces are to be engaged by the second belt toenable a nonlinear rate of rotation of the second wrist member withrespect to the second forearm.
 10. The robot of claim 1, wherein thefirst forearm and first wrist member are positioned below the secondforearm and the second wrist member.
 11. The robot of claim 1, whereinthe first forearm includes a different center-to-center length than thefirst upper arm, and the second forearm includes a differentcenter-to-center length than the second upper arm.
 12. An electronicdevice processing system, comprising: a transfer chamber; a robot atleast partially disposed in the transfer chamber and adapted totransport substrates to and from process chambers coupled to thetransfer chamber, the robot comprising: a first upper arm rotatableabout a shoulder axis; a second upper arm vertically spaced from thefirst upper arm and rotatable about the shoulder axis; a first forearmcoupled to the first upper arm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first upper arm about a second axis at a position offset from theshoulder axis; a second forearm coupled to the second upper arm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second upper arm about a thirdaxis at a position offset from the shoulder axis; a first wrist membercoupled to the first forearm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first forearm about a fourth axis at a position offset from thesecond axis; a second wrist member coupled to the second forearm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second forearm about a fifthaxis at a position offset from the third axis; a first forearm shaftrigidly coupled to the first upper arm and to a first cam comprising afirst cam surface; a second cam coupled to the first wrist member, thesecond cam comprising a second cam surface; and a first belt coupledbetween the first cam surface and the second cam surface, wherein thefirst and second cam surfaces are to enable a nonlinear rate of rotationof the first wrist member with respect to the first forearm.
 13. Theelectronic device processing system of claim 12, wherein the robotfurther comprises a first upper arm drive assembly comprising: a firstmotor; and a first shaft coupled to the first motor and the first upperarm and adapted to cause independent rotation of the first upper arm.14. The electronic device processing system of claim 12, wherein therobot further comprises: a second upper arm drive assembly comprising: asecond motor; and a second shaft coupled to the second motor and thesecond upper arm and adapted to cause independent rotation of the secondupper arm.
 15. The electronic device processing system of claim 12,wherein the robot further comprises a first forearm drive assemblycomprising: a third motor; a third shaft coupled to the third motor andto a first forearm cylindrical pulley: a first forearm cylindrical pilotcoupled to the first forearm; and a first second belt coupled betweenthe first forearm cylindrical pulley and the first forearm cylindricalpilot.
 16. The electronic device processing system of claim 12, whereinthe robot further comprises a second forearm drive assembly comprising:a fourth motor; a fourth shaft coupled to the fourth motor and to asecond forearm cylindrical pulley; a second forearm cylindrical pilotcoupled to the second forearm; and a second belt coupled between thesecond forearm cylindrical pulley and the second forearm cylindricalpilot.
 17. The electronic device processing system of claim 12, whereinthe first cam surface further comprises a first oblong pulley and thesecond cam surface further comprises a second oblong pulley, wherein afirst maximum radius of the first oblong pulley is perpendicular to asecond maximum radius of the second oblong pulley.
 18. A method oftransporting substrates within an electronic device processing system,comprising: providing a robot comprising a first upper arm rotatableabout a shoulder axis, a second upper arm vertically spaced from thefirst upper arm and rotatable about the shoulder axis, a first forearmcoupled to the first upper arm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first upper arm about a second axis at a position offset from theshoulder axis, a second forearm coupled to the second upper arm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second upper arm about a thirdaxis at a position offset from the shoulder axis, a first wrist membercoupled to the first forearm and vertically located between the firstupper arm and the second upper arm and adapted for rotation relative tothe first forearm about a fourth axis at a position offset from thesecond axis, a second wrist member coupled to the second forearm andvertically located between the first upper arm and the second upper armand adapted for rotation relative to the second forearm about a fifthaxis at a position offset from the third axis, a first forearm shaftrigidly coupled to the first upper arm and to a first cam comprising afirst cam surface, a second cam coupled to the first wrist member, thesecond cam comprising a second cam surface, and a first belt coupledbetween the first cam surface and the second cam surface, wherein thefirst and second cam surfaces are to enable a nonlinear rate of rotationof the first wrist member with respect to the first forearm;independently rotating the first upper arm to extend a first endeffector, carrying a first substrate, radially into a first chamber; andindependently rotating the second upper arm to extend a second endeffector, carrying a second substrate, radially into a second chambersuch that the second substrate does not pass over the first substrate.19. The method of transporting substrates of claim 18, furthercomprising independently rotating the first forearm.
 20. The method ofclaim 18, further comprising independently rotating the second forearm.